Working robot

ABSTRACT

The working apparatus comprises a manipulator 1 having three axes, a working unit 10, 20, and a universal coupling 7 for connecting the manipulator 1 and the working unit 10, 20. The working unit 10, 20 has a working portion 12, 22 for rotatably and surface contacting an objective working surface 19, 79. The universal coupling 7 is rotatable about any two axes. The manipulator 401 may be secured to a hatch opening portion 410 of an aircraft by means of a holding jig 406.

TECHNICAL FIELD

The present invention relates to a working apparatus, and in particular,relates to a working apparatus having a manipulator.

RELATED ART

A working apparatus with a manipulator and a working unit such as apolishing unit and a cleaning unit disposed at an end of the manipulatorhas been known. While the working apparatus is operated, the workingunit is brought into contact with and pressed against an objectiveworking surface.

When any plane surface or curved surface is cleaned or painted with sucha working apparatus, a manipulator having five or six degrees of freedomis used. This manipulator is provided with multiple joints of two orthree axes, basic configuration such as Cartesian coordinates,cylindrical coordinates, or the like, and two or three orientation axes.At one end of the manipulator, a working unit is disposed. In addition,in order to control the force with which the working unit pressesagainst the objective working surface, force sensors are provided wherenecessary.

FIG. 48 is a perspective view showing a conventional working apparatusfor cleaning an objective working surface such as a wall.

In FIG. 48, a manipulator 200 is a multi-jointed manipulator having fivedegrees of freedom consisting of three joint axes R1, R2, and R3 and twoorientation axes R4 and R5. In the vicinity of an outer or working endof the manipulator 200, a motor 202 for driving the orientation axes R4and R5 is disposed. At this end of the manipulator 200, a rotating shaft204 is provided. A brush 201 which is to be brought into contact with anobjective working surface 205 is secured to the rotating shaft 204 as aworking portion. The brush 201 is guided to a particular position of theobjective working surface 205 by operations of arms 208 and 209 of themanipulator 200. The orientation of the brush 201 is controlled by theorientation axes R4 and R5 in such a way that the axis of rotation ofthe brush 201 is pressed perpendicularly to the objective workingsurface 205. The brush 201 is rotated about the rotating shaft 204 so asto perform a cleaning work. A bottom portion 206 is securely connectedto a base 207.

When the above described working apparatus is operated in such a mannerthat-the working unit such as a cleaning unit or a painting unit ispressed against any plane surface or curved surface, it is preferablethat the working portion of the working unit be brought into contactwith and pressed against the objective working surface from a particulardirection relative to the direction normal to the objective workingsurface with a particular force from the viewpoint of workingefficiency. Thus, the manipulator for use in the conventional workingapparatus requires many degrees of freedoms, namely five or six degreesof freedom. In this construction, since the weight of the two or threeorientation axes should be supported, the weight of two or three axes ofthe basic configuration proportionally increases. Thus, the structure ofthe manipulator and its control unit become complicated, therebyincreasing their size.

Moreover, when the working portion is pressed from a particulardirection relative to the direction normal to the objective workingsurface, although the shape of the objective working surface can betaught to the working apparatus, this work requires a great amount oflabor.

When the shape of the objective working surface is unknown, by using aninner force sensor and a torque sensor provided on each of the five orsix axes, the shape of the objective working surface can be estimated.However, this technique requires expensive sensors and advanced controltechniques.

In addition, as shown in FIG. 49, it is possible to mount a working unit301 through two orientation axes R4 and R5 at an end of a basicconfiguration having three joint axes R1, R2, and R3. In thisconstruction, when the working apparatus 300 is operated, a brush 302 atthe end of the working unit 301 is brought into contact with and pressedagainst an objective working surface 303. However, the working apparatusshown in FIG. 49 has the following drawbacks.

In FIG. 49, the brush 302 of the working unit 301 is controlled in sucha manner that the brush 302 always has a particular orientation relativeto the objective working surface 303. When the brush 302 which is keptin the particular orientation is moved for a long path, the directionsof the orientation axes may become unstable and an improper orientationtakes place. For example, as shown in FIG. 49, when the brush 302 issuccessively moved from position (A) to position (B) to position (C),the brush 302 may be improperly oriented. When the orientation axes R4and R5 are improperly oriented, they cannot keep their orientationsconstant due to abrupt movement. Thus, the brush 302 cannot be smoothlyoperated. If the objective working surface 303 is a glass or the like,it may be broken. Although it is possible to use a manipulator havingmany degrees of freedom to prevent the orientation axes R4 and R5 frombeing improperly oriented, the computation for controlling themanipulator is very complicated. Thus, this conventional manipulatorcannot smoothly operate the working unit 301 on the objective workingsurface 303 in such a manner that the orientation of the working unit301 relative to the objective working surface 303 is kept constant.

Moreover, as shown in FIGS. 50A and 50B, when the objective workingsurface 303 has a corner 304, the operation is stopped at the corner 304and then the orientations of the orientation axes R4 and R5 are changedin accordance with an inclination of the objective working surface 303.Thus, the working apparatus cannot continuously operate on the objectiveworking surface 303 having the corner 304. Furthermore, when theobjective working surface 303 has a sharp corner, the working apparatuscannot operate due to interference with the working unit 301 and theorientation axes R4 and R5.

DISCLOSURE OF THE INVENTION

A first object of the present invention is to provide a workingapparatus which freely operates a working portion so that itsorientation fits snugly against an objective working surface.

A second object of the present invention is to provide a workingapparatus in which a manipulator can be easily set.

A third object of the present invention is to provide a workingapparatus from which a manipulator can be freely detached.

(1) A first aspect of the present invention concerns a working apparatuscomprising a manipulator having two to four axes, a working unit havinga working portion for rotatably and surface contacting an objectiveworking surface, and a universal coupling for connecting the manipulatorand the working unit, the universal coupling being rotatable about anytwo axes.

(2) A second aspect of the present invention concerns a workingapparatus comprising a manipulator, a working unit disposed at an end ofthe manipulator, and a holding jig for holding a base portion of themanipulator, the holding jig being secured to a hatch opening portion ofan aircraft.

(3) A third aspect of the present invention concerns a working apparatuscomprising a plurality of arms, a manipulator having at least one joint,a manipulator end portion for attaching a working unit, the working unitbeing arranged to perform a predetermined work for an aircraft, amanipulator base portion secured to an airframe part of the aircraft,and a control unit for driving and controlling the working unit.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view showing a first embodiment of a workingapparatus for freely fitting a working portion to an objective workingsurface in accordance with the first aspect of the present invention;

FIG. 2 is a perspective view showing a working unit of the firstembodiment in accordance with the first aspect of the present invention;

FIG. 3 is a perspective view showing a second embodiment of the workingapparatus in accordance with the first aspect of the present invention;

FIG. 4 is a side view showing a third embodiment of the workingapparatus-in accordance with the first aspect of the present invention;

FIG. 5 is a side view showing another supporting method of the thirdembodiment in accordance with the first aspect of the present invention;

FIG. 6 is a perspective view showing a fourth embodiment of the workingapparatus in accordance with the first aspect of the present invention;

FIG. 7 is a perspective view showing another supporting method of thefourth embodiment in accordance with the first aspect of the presentinvention;

FIG. 8 is a perspective view showing a working unit of a fifthembodiment of the working apparatus in accordance with the first aspectof the present invention;

FIG. 9 is a schematic view of a sixth embodiment of the workingapparatus in accordance with the first aspect of the present invention;

FIG. 10 is a perspective view showing a condition of work for cleaning awindshield of an aircraft of a seventh embodiment of the workingapparatus in accordance with the first aspect of the present invention;

FIG. 11 is a sectional view showing a working unit of the seventhembodiment of the working apparatus in accordance with the first aspectof the present invention;

FIG. 12 is a schematic diagram showing a working condition of theseventh embodiment in accordance with the first aspect of the presentinvention;

FIG. 13 is a sectional view showing a working unit of an eighthembodiment of the working apparatus in accordance with the first aspectof the present invention;

FIG. 14 is a sectional view showing a working unit of a ninth embodimentof the working apparatus in accordance with the first aspect of thepresent invention;

FIG. 15 is a sectional view showing a working unit of a tenth embodimentof the working apparatus in accordance with the first aspect of thepresent invention;

FIG. 16A is a sectional view showing a working unit of an eleventhembodiment of the working apparatus in accordance with the first aspectof the present invention;

FIG. 16B is a side sectional view of FIG. 16A;

FIG. 17 is a sectional view showing a working unit of a twelfthembodiment of the working apparatus in accordance with the first aspectof the present invention;

FIG. 18A is a sectional view showing a working unit of a thirteenthembodiment of the working apparatus in accordance with the first aspectof the present invention;

FIG. 18B is a side sectional view of FIG. 18A;

FIG. 19 is a sectional view showing a working unit of a fourteenthembodiment of the working apparatus in accordance with the first aspectof the present invention;

FIG. 20 is a sectional view showing a working unit of a fifteenthembodiment of the working apparatus in accordance with the first aspectof the present invention;

FIG. 21 is a perspective view showing a first embodiment of a workingapparatus easily set in accordance with a second aspect of the presentinvention;

FIG. 22 is a perspective view showing a working condition of the firstembodiment in accordance with the second aspect of the presentinvention;

FIG. 23 is a perspective view showing an interior of an aircraft of thefirst embodiment in accordance with the second aspect of the presentinvention;

FIG. 24 is a perspective view showing a second embodiment of the workingapparatus in accordance with the second aspect of the present invention;

FIG. 25 is a perspective view showing a third embodiment of the workingapparatus in accordance with the second aspect of the present invention;

FIG. 26 is a perspective view showing a fourth embodiment of the workingapparatus in accordance with the second aspect of the present invention;

FIG. 27 is a perspective view showing a modification example of apressing member of the fourth embodiment in accordance with the secondaspect of the present invention;

FIG. 28 is a perspective view showing a fifth embodiment of the workingapparatus in accordance with the second aspect of the present invention;

FIG. 29 is a perspective view showing a sixth embodiment of the workingapparatus in accordance with the second aspect of the present invention;

FIG. 30 is a perspective view showing a conventional working apparatusas a comparative example;

FIG. 31 is a perspective view showing an operation of a first embodimentof a detachable working apparatus in accordance with a third aspect ofthe present invention;

FIG. 32 is a perspective view showing an operation of the firstembodiment in accordance with the third aspect of the present invention;

FIG. 33 is a perspective view showing an interior of a cockpit of anaircraft of the first embodiment in accordance with the third aspect ofthe present invention;

FIG. 34 is a perspective view showing the first embodiment and theorganization of peripheral units thereof in accordance with the thirdaspect of the present invention;

FIG. 35 is a front view showing the first embodiment in accordance withthe third aspect of the present invention;

FIG. 36 is a side view showing the first embodiment in accordance withthe third aspect of the present invention;

FIG. 37 is a plan view showing the first embodiment in accordance withthe third aspect of the present invention;

FIGS. 38A and 38B are schematic diagrams showing compositions of degreesof freedom of a manipulator of the first embodiment in accordance withthe third aspect of the present invention;

FIG. 39 is a sectional view showing a working unit of the manipulator ofthe first embodiment in accordance with the third aspect of the presentinvention;

FIG. 40 is a perspective view showing the working unit of themanipulator of the first embodiment in accordance with the third aspectof the present invention;

FIG. 41 is a perspective view showing a working unit of a secondembodiment of the working apparatus in accordance with the third aspectof the present invention;

FIG. 42 is a perspective view showing a working unit of a thirdembodiment of the working apparatus in accordance with the third aspectof the present invention;

FIG. 43 is a perspective view showing a working unit of a fourthembodiment of the working apparatus in accordance with the third aspectof the present invention;

FIG. 44 is a perspective view showing a coupling device of the workingapparatus in accordance with the third aspect of the present invention;

FIG. 45 is a perspective view showing a coupling device of a fifthembodiment of the working apparatus in accordance with the third aspectof the present invention;

FIG. 46 is a perspective view showing a coupling device of a sixthembodiment of the working apparatus in accordance with the third aspectof the present invention;

FIG. 47 is a side view showing another condition of a moving range of aseventh embodiment of the working apparatus in accordance with the thirdaspect of the present invention;

FIG. 48 is a perspective view showing a conventional working apparatus;

FIG. 49 is a schematic diagram indicating a working condition of theconventional working apparatus; and

FIGS. 50A and 50B are schematic diagrams showing working conditions onorthogonal objective working surfaces on which the conventional workingapparatus operates.

BEST MODES FOR CARRYING OUT THE INVENTION

Section 1 Working apparatus for freely fitting a working portion to anobjective working surface

1.1 First Embodiment

Embodiments of a working apparatus for freely fitting and adapting aworking portion to an objective working surface in accordance with thefirst aspect of the present invention will be described with referenceto FIGS. 1 to 20.

First, with reference to FIGS. 1 and 2, a first embodiment will bedescribed.

In FIG. 1, a working apparatus has a multi-jointed manipulator 1 whichis provided with three joint axes R1, R2, and R3 as a basicconfiguration. Each of joints 2a, 2b, and 2c of the three axes R1, R2,and R3 is provided with a servo motor, a position detecting device suchas an encoder, and a driving mechanism comprising a reduction gear, alimit sensor, and a brake. The manipulator 1 has a first arm 3 and asecond arm 4, which are long arms. The manipulator 1 is held by a base5. The base 5 is secured on a mounting surface 6. An end of the secondarm 4 is connected to a universal coupling 7. The universal coupling 7is supported by a ball bearing, a plain bearing, or the like. Theuniversal coupling 7 is rotatable about two axes T1 and T2. Thedirections of the two axes T1 and T2 of the flexible coupling 7 can beset independently from those of the three axes R1, R2, and R3 of thebasic configuration. In this embodiment, the direction of the axis T2 isin parallel with that of the axis of the second arm 4. The direction ofthe axis T1 is perpendicular to that of the axis T2.

As shown in FIG. 2, the universal coupling 7 comprises a shaft member 7aand a U-shaped member 7b. The shaft member 7a is connected to an end ofthe second arm 4 so that the shaft member 7a is rotated about the axisT2. At a connecting portion between the shaft member 7a and the secondarm 4, a potentiometer 8a for detecting an angle of rotation of theshaft member 7a about the axis T2 is provided. At an end of the U-shapedmember 7b, a working unit such as a polishing unit and a cleaning unitis provided.

When the position and shape of an objective working surface have beenknown in advance or when it is not necessary to accurately control theorientation of the working unit, the potentiometer is not required.

The working unit 10 comprises a working portion 12 such as a brush whichis secured to a rotating axis (not shown in the figure), a mountingdevice to which the working portion 12 is provided, and a forcedetecting means 11 which is connected to the mounting device 13 andwhich detects the force with which the working portion 12 presses theobjective working surface 19.

The mounting device 13 has a disc shape. The force detecting means 11 isconnected to a shaft member 13a. To outer sides of the shaft member 13a,forked ends of the U-shaped member 7b are swingably connected. On one ofthe forked ends-of the U-shaped member 7b, a potentiometer 8b fordetecting swinging angle is provided. On an upper surface of themounting device 13, a small motor 14 is mounted. By the small motor 14,a rotating shaft disposed at the center of the mounting device 13 isrotated through a gear mechanism (not shown in the figure). The diameterof the mounting device 13 is almost the same as that of the workingportion 12.

The operation of the working apparatus of the first embodiment inaccordance with the first aspect of the present invention will now bedescribed.

By manually operating a joystick (not shown in the figure), themanipulator 1 is controlled so as to move the working portion 12 to adesired position of the objective working surface 19. The forcedetecting means 11 detects the force with which the working portion 12presses against the objective working surface 19. A control unit (notshown in the figure) controls the manipulator 1 so that the pressingforce is always kept in a predetermined range. Thus, while the workingportion 12 is pressed against the objective working surface 19 with aproper force, the working portion 12 is moved over the objective workingsurface, thereby performing a cleaning work, a painting work, and soforth.

When the shape of the curved surface of the objective working surface 19varies, the working portion 12 is brought into surface contact with theobjective working surface 19 with a particular contacting area. Thus,the working portion 12 assumes an orientation for most intimate contactwith the objective working surface 19. More specifically, the workingportion 12 assumes an orientation such that the direction normal to theworking portion 12 coincides with that of the objective working surface19. In this case, force is applied from the working portion 12 to theuniversal coupling 7 through the mounting device 13. In accordance withthe direction of the force, the universal coupling 7 rotates about theaxes T1 and T2.

As described above, according to this embodiment, since the manipulatorhaving three axes is used instead of a large manipulator having five tosix axes and the working unit 10 is disposed at the end of themanipulator 1 through the universal coupling 7, the size of the workingapparatus can be reduced.

In addition, since the working unit 10 has the force detecting means 11,the working portion 12 can press the objective working surface 19 with apredetermined force. Thus, the working apparatus can be safely operated.

Moreover, since the potentiometers 8a and 8b for detecting the angle ofrotation of the universal coupling 7 are provided, along withinformation of angles of joints about the axes R1, R2, and R3 of themanipulator 1, even if the working apparatus is operated on theobjective working surface 19 whose shape is complicated, the directionnormal to the objective working surface 19 can be easily computed.

1.2 Second Embodiment

With reference to FIG. 3, a second embodiment of the working apparatusin accordance with the first aspect of the present invention will now bedescribed. Parts which are the same as those of the first embodimentshown in FIG. 2 are represented with the same reference numerals anddescription thereof will be omitted.

In FIG. 3, a working unit 20 comprises four rotating shafts S1, S2, S3,and S4 (S4 is not shown in the figure) supported by the mounting device13, working portions 22a, 22b, 22c, and 22d (22d is not shown in thefigure) mounted on these rotating shafts S1, S2, S3, and S4, and theforce detecting means 11 which is connected to the mounting device 13and which detects the force with which the working portions 22a, 22b,22c, and 22d press the objective working surface 19.

The rotating shafts S1, S2, S3, and S4 are rotated by the small motor 14mounted on the mounting device 13 through a gear mechanism (not shown inthe figure). The gear mechanism is constructed so that the adjacentrotating shafts are reversely rotated. In other words, the direction ofrotation of S1 is the reverse of that of S2; and so forth.

According to this second embodiment, since the working portions 22a,22b, 22c, and 22d which are secured respectively to the rotating shaftsS1, S2, S3, and S4 are rotated reversely to each other, the frictionalforces of the working portions 22a, 22b, 22c, and 22d imparted to theobjective working surface 19 can be mutually canceled. Thus, vibrationor the like of the objective working surface 19 can be prevented.

In addition, since the working unit 20 has a plurality of small workingportions 22a, 22b, 22c, and 22d, the orientation of the working unit 20can be varied in accordance with the shape of the curved surface of theobjective working surface 19.

1.3 Third Embodiment

A third embodiment of the working apparatus in accordance with the firstaspect of the present invention will now be described with reference toFIGS. 4 and 5.

Parts which are the same as those of the first embodiment shown in FIG.2 are designated by the same reference numerals and description thereofwill be omitted. The construction of the third embodiment is the same asthat of the first or second embodiments except that the supportingmethod of the universal coupling of the third embodiment differs fromthat of the first or second embodiment.

In FIG. 4, one end of each of springs 30a and 30b is connected to theuniversal coupling 7, the other end thereof being connected to the shaftmember 13a. The springs 30a and 30b prevent the shaft member 13a fromrotating about the axis T1. In addition, it is possible to providesimilar springs (not shown in the figure) which can prevent the U-shapedmember 7b from rotating about the axis T2.

According to this third embodiment, while the working unit 10 is notoperated, its unexpected vibration can be prevented. Thus, the universalcoupling 7 can be stably supported.

FIG. 5 is a plan view showing a construction where a counterweight 35having adequate weight (for example, the weight of the mounting device13 plus the weight of the working portion 12) is disposed at the end ofthe shaft member 13a. In this construction, since the total weight ofthe mounting device 13 and the working portion 12 is offset by theweight of the counterweight 35, the working portion 12 can be easilyfitted to the objective working surface 19 and operated thereonregardless of what orientation the working portion 12 has.

1.4 Fourth Embodiment

A fourth embodiment of the working apparatus in accordance with thefirst aspect of the present invention will now be described withreference to FIGS. 6 and 7. Parts which are the same as those of thefirst embodiment shown in FIG. 2 are designated by the same referencenumerals and description thereof will be omitted. According to thisfourth embodiment, the universal coupling 7 is supported by anothersupporting method.

In FIG. 6, at the end of the second arm 4 of the manipulator, a couplingjig 40 for mounting the universal coupling 7 in a desired orientation isprovided. In other words, at an end of the coupling jig 40, the shaftmember 7a of the universal coupling 7 is mounted so that the shaftmember 7a rotates about the axis t2. At the other end of the couplingjig 40, the end of the second arm 4 is connected in the directionperpendicular to the axial direction of the shaft member 7a.

According to the fourth embodiment, since the coupling jig 40 isprovided, the working unit 10 can be oriented correspondingly to asuitable direction in accordance with the orientation and the shape ofthe objective working surface 19. Thus, the working efficiency can beimproved.

In FIG. 7, at the end of the second arm 4 of the manipulator, a couplingjig 45 is provided. The coupling jig 45 has a sliding shaft (not shownin the figure) which is coaxial to the axis T3. The shaft member 7a ofthe universal coupling 7 is pivoted by this sliding shaft. In accordancewith the orientation of the curved surface of the objective workingsurface 19, the orientation of the shaft member 7a is set. Thereafter,by closing a clamping member 46, the shaft member 7a is secured to thecoupling jig 45.

According to this fourth embodiment, since the coupling jig 45 havingthe sliding shaft coaxial to the axis T3 is provided, the orientation ofthe working unit 10 can be preset in accordance with the orientation andthe shape of the objective working surface 19. In addition, the mountingdirection of the universal coupling 7 can be easily changed inaccordance with the orientation of a curved surface of the objectiveworking surface 19. Thus, the working efficiency can be improved.

Moreover, when the sliding shaft is driven by a motor, the mountingdirection can be easily changed while the working apparatus is operated.In addition, the axis T3 can be used as one of configuration axes of theworking apparatus.

1.5 Fifth Embodiment

With reference to FIG. 8, a fifth embodiment of the working apparatus inaccordance with the first aspect of the present invention will bedescribed. Parts which are the same as those of the first embodimentshown in FIG. 2 are designated by the same reference numerals anddescription thereof will be omitted.

In the first embodiment, the force detecting means 11 is disposed on theworking unit 10. In contrast, according to this fifth embodiment, asshown in FIG. 8, the force detecting means 11 is mounted at the end ofthe second arm 4 of the manipulator 1.

According to this embodiment, since the force detecting means 11 isdisposed at the end of the second arm 4, the distance between a lowerend 4a of the second arm 4 and the working portion 12 can be reduced.Thus, the working portion 12 can be stably pressed against the objectiveworking surface 19.

1.6 Sixth Embodiment

With reference to FIG. 9, a sixth embodiment of the working apparatus inaccordance with the first aspect of the present invention will bedescribed.

In FIG. 9, reference numeral 60 represents a SCARA (Selective ComplianceAssembly) robot having four degrees of freedom and constructed of threerotating axes U1, U2, and U3 and one linear axis V1. The SCARA robot 60is held by a base 61. A working unit 70 is disposed at an end of theSCARA robot 60 through the universal coupling 7. A plurality of rotatinggrindstones 72 are provided at an end of the working unit 70. Therotating grindstones 72 grind a curved surface of the objective workingsurface 79 in accordance therewith by the operation of the universalcoupling 7. In accordance with an output signal which is sent from theforce detecting means 11 provided in the working unit 70 to a controlunit (not shown in the figure), the working unit 70 vertically movesalong the linear axis V1. In addition, by the operation of the linearaxis V1 in cooperation with other axes, the rotating grindstones 72press against the objective working surface 79 with a constant force. Asthe construction of the SCARA robot, two to four axes can be provided sothat the number of degrees of freedom becomes 2 to 4, respectively.

According to this sixth embodiment, since the working apparatus isprovided with the working unit 70 through the universal coupling 7 atthe end of the SCARA robot 60, the working apparatus can effectivelyperform a grinding work while pressing the rotating grindstones 72against the objective working surface 79 with a constant force. Inaddition, as shown in FIGS. 6 and 7, when the coupling jig is providedand the rotating axis of the rotating grindstones 72 is inclined inaccordance with the orientation of a curved surface of the objectiveworking surface 79, the working efficiency can be further improved.

1.7 Seventh Embodiment

Next, with reference to FIGS. 10 to 12, a seventh embodiment of theworking apparatus in accordance with the first aspect of the presentinvention will be described.

FIG. 10 is a perspective view showing a condition of the workingapparatus which performs a cleaning work on a windshield of a cockpit ofan aircraft. In this figure, the manipulator 100 is a multi-jointedmanipulator having three joint axes R1, R2, and R3 as the basicconfiguration. A base portion of the manipulator 100 is held by aholding jig 102 disposed at a hatch opening portion (crew overhead hatchopening portion) 101 of the aircraft. The manipulator has a first arm103 and a second arm 104. A working unit 110 is provided at the outerend of the second arm 104.

As shown in FIG. 11, the working unit 110 has a frame member 112 securedto a rotating shaft 111 disposed at the outer or working end of thesecond arm 104 and a working portion provided outside the frame member112. The frame member 112 has a frame member shaft portion 112a securedto the rotating shaft 111 and a spherical portion 112b connected to theframe member shaft portion 112a. The working portion 113 is made of asponge material disposed outside the spherical portion 112b. Theexternal shape of the working portion 113 is spherical.

A motor 105 is provided in the second arm 104. The rotating shaft 111 isprovided through a reduction gear 106 for adjusting the rotating speedthereof. Thus, the working unit 110 rotates about the axis W1 coaxial tothe second arm 104.

Next, the operation of the working apparatus in accordance with theseventh embodiment will be described with reference to FIG. 12.

In FIG. 12, an objective working surface 108 has surfaces 108a and 108bwhich are orthogonally disposed to each other. The surfaces 108a and108b form a corner portion 109. The manipulator 100 successively movesthe working portion 113 from position (A), to position (B), to position(C), to position (D) so that the working portion 113 presses against theobjective working surface 108 with a constant force.

In this case, since the working portion 113 is spherical, even if thereis the corner portion 109 on the objective working surface 108, somepart of the working portion 113 always presses against the objectiveworking surface 108. Thus, the manipulator 100 does not need a largechange of the orientation of the working portion 113 to fit the workingportion 113 to the objective working surface 108. Therefore, the arms103 and 104 of the manipulator 100 are not improperly oriented. Thus,even if there is a corner portion 109 on the objective working surface108, the working apparatus can smoothly and continuously operate on theobjective working surface 108.

In addition, since the working portion 113 is spherical, a large changeof orientation thereof is not necessary. Thus, since the manipulator 100does not require the orientation axes R4 and R5 as shown in FIGS. 50Aand 50B, the working apparatus is not improperly oriented. In addition,various controlling computations can be simplified. Consequently, aworking apparatus which is light and inexpensive can be provided.

1.8 Eighth Embodiment

Now, with reference to FIG. 13, an eighth embodiment of the workingapparatus in accordance with the first aspect of the present inventionwill be described. Parts which are the same as those of the seventhembodiment shown in FIG. 11 are designated by the same referencenumerals and description thereof will be omitted.

As shown in FIG. 13, a working portion 123 of a working unit 120 isconstructed of a plurality of small sponge members 124 disposed on theframe member 112.

According to the eighth embodiment, since the small sponge members 124can fit to sectional shapes of a curved surface of the objective workingsurface 108, the working unit 120 can be effectively operated. Inaddition, since worn sponge members 124 can be replaced with new ones,the working cost can be reduced.

1.9 Ninth Embodiment

With reference to FIG. 14, a ninth embodiment of the working apparatusin accordance with the first aspect of the present invention will bedescribed. Parts which are the same as those of the seventh embodimentshown in FIG. 11 are designated by the same reference numerals anddescription thereof will be omitted.

As shown in FIG. 14, a frame member 132 of the working unit 130comprises a shaft member 132a, a spherical member 132b disposed outsidethe shaft member 132a, and a bottom member 132c disposed on a bottomside of the manipulator 100. The frame member 132 forms an inner space134 for storing a working fluid such as a detergent, lubricant, and soforth. The working fluid can be charged from a port (not shown in thefigure) disposed on the bottom member 132 when necessary. The sphericalmember 132b has a plurality of holes 136 from which the fluid is soakedout to the working portion 133 disposed outside the frame member 132.

According to this ninth embodiment, since the working fluid is soakedout to the working portion 133 while the working unit 130 is operated,the working efficiency thereof can be improved.

1.10 Tenth Embodiment

Next, with reference to FIG. 15, a tenth embodiment of the workingapparatus in accordance with the first aspect of the present inventionwill be described. Parts which are the same as those of the seventhembodiment shown in FIG. 11 are designated by the same referencenumerals, and description thereof will be omitted.

As shown in FIG. 15, a working portion 143 of a working unit 140 iscomprises a brush member disposed outside the frame member 112.

The tenth embodiment is preferable in the case where the objectiveworking surface 108 (see FIG. 12) is painted by the brush member ratherthan the sponge members. In addition, by selecting the thickness,length, and so forth of the brush member, the working portion 143 mostsuitable for the material of the objective working surface 108 and worktype thereof can be easily formed.

1.11 Eleventh Embodiment

With reference to FIGS. 16A and 16B, an eleventh embodiment of theworking apparatus in accordance with the first aspect of the presentinvention will be described. Parts which are the same as those of theseventh embodiment shown in FIG. 11 are designated by the same referencenumerals, and description thereof will be omitted. FIG. 16A is across-sectional view of a working unit 150, this view being taken alongline 16A--16A of FIG. 16B. FIG. 16B is a side sectional view of FIG.16A.

In FIGS. 16A and 16B, a working portion 153 of the working unit 150 hasa cylindrical shape. A bottom surface 153a and a side surface 153b areconnected with a smoothly curved surface 153c. A frame member 152comprises a frame shaft portion 152a secured to the rotating shaft 111and a cylindrical tube member 152b connected to the frame shaft portion152a. The working portion 153 is disposed on the tube member 152b. Theworking portion 153 may be constructed of either a sponge or a brush.

The eleventh embodiment is preferable in the case where the objectiveworking surface 108 (see FIG. 12) does not fully fit the working portion153, but partially fit the bottom surface 153a or the side surface 153b.

1.12 Twelfth Embodiment

With reference to FIG. 17, a twelfth embodiment of the working apparatusin accordance with the first aspect of the present invention will bedescribed. Parts which are the same as those of the seventh embodimentshown in FIG. 11 are designated by the same reference numerals anddescription thereof will be omitted.

As shown in FIG. 17, a working portion 163 of a working unit 160 isdisposed outside the frame member 112. The working member 163 has anellipsoidal shape.

The shape of the working portion 163 in accordance with this twelfthembodiment is intermediate between the shape of the working portion 113shown in FIG. 11 and the shape of the working portion 153 shown in FIGS.16A and 16B. The longitudinal section of the working portion 163 iselliptical. The working unit 160 of this embodiment can be used inaccordance with the shape of a curved surface of the objective workingsurface 108 (see FIG. 12).

1.13 Thirteenth Embodiment

With reference to FIGS. 18A and 18B, a thirteenth embodiment of theworking apparatus in accordance with the first aspect of the presentinvention will be described. Parts which are the same as those of theseventh embodiment shown in FIG. 11 are designated by the same referencenumerals, and description thereof will be omitted. FIG. 18A is across-sectional view of a working unit 170, the view being taken alongline 18A--18A of FIG. 18B. FIG. 18B is a side sectional view of FIG.18A.

As shown in FIGS. 18A and 18B, a working portion 173 in accordance withthe thirteenth embodiment has an angular shape.

The working unit 170 of this embodiment can be used in accordance withthe shape of a curved surface of the objective working surface (see FIG.12) similarly as the working unit 160 of the twelfth embodiment shown inFIG. 17.

1.14 Fourteenth Embodiment

With reference to FIG. 19, a fourteenth embodiment of the workingapparatus in accordance with the first aspect of the present inventionwill be described. Parts which are the same as those of the seventhembodiment shown in FIG. 11 are designated by the same referencenumerals, and description thereof will be omitted.

In FIG. 19, a tube member 180 is disposed at the end of the second arm104 and pivoted about a shaft 181. The tube member 180 is rotatable inthe direction of W2 shown in FIG. 19. The tube member 180 can be securedat a desired angle by tightening a clamping member 182. In addition, thetube member 180 accommodates the motor 105 and the reduction gear 106(see FIG. 11).

According to this fourteenth embodiment, since the tube member 180 isrotatable about the shaft 181, the rotating shaft 111 can have a desiredangle relative to the second arm 104. Thus, according to thisembodiment, the manipulator 100 can be prevented from colliding with theobjective working surface 108 (see FIG. 12) and other obstacles.

1.15 Fifteenth Embodiment

With reference to FIG. 20, a fifteenth embodiment of the workingapparatus in accordance with the first aspect of the present inventionwill be described. Parts which are the same as those of the seventhembodiment shown in FIG. 11 are designated by the same referencenumerals, and description thereof will be omitted.

In FIG. 20, a force detecting means 194 is disposed in the vicinity ofthe end of the second arm 104. The force detecting means 194 detects theforce with which the working portion 193 presses against the objectiveworking surface 108 in each of the directions of the three orthogonalaxes X, Y, and Z. The working portion 193 has a spherical shape so thata measured result by the force detecting means 194 can be easilyanalyzed.

According to this fifteenth embodiment, by computing each directionalcomponent of the three axes with respect to the force obtained by theforce detecting means 194, the relation between the direction of normalof the objective working surface 108 (see FIG. 12) and the orientationof the working portion 193 can be obtained. In accordance with thecomputed result, the manipulator 100 can be controlled so that theworking portion 193 is pressed in the direction normal to the objectiveworking surface 108 with a desired amount of force. In addition, themanipulator 100 can be easily controlled so that the working portion 193is moved in the tangent direction of the objective working surface 108at a constant speed. Thus, without the necessity of a complicated unitwhich teaches any shape of the objective working surface 108 to themanipulator 100, it can smoothly perform the same operation as the unitcan.

Section 2 Working apparatus in which a manipulator can be easily set

2.1 First Embodiment

A first embodiment of a working apparatus in which a manipulator can beeasily set in accordance with the second aspect of the present inventionwill now be described with reference to FIGS. 21 to 23 and FIG. 30.FIGS. 21 to 23 show the first embodiment. FIG. 30 shows a comparativeexample of the first embodiment.

In FIG. 21, the working apparatus comprises a manipulator 401 formounting a working unit 403 such as a cleaning unit disposed at an endportion 402 of the manipulator 401 and a holding jig 406 for holding abase member 404 of the manipulator 401. This holding jig 406 is securedto a hatch opening portion 410 of a hatch 409 in the ceiling of acockpit 408 of an aircraft.

In other words, the holding jig 406 has a holding leg 411 comprising aplurality of legs 413 inserted into pin holes 412 for securing a lift-updoor (not shown in the figure) of the hatch 409. A stay 420 extendsdownwardly from a center member 414 of the holding leg 411. A supportingtube 421 for laterally supporting the base member 404 of the manipulator401 through a side member 422 is attached to a base column 425 of thestay 420.

As described above, the holding leg 411 is constructed of a plurality of(for example four) legs 413. Each leg 413 comprises a fixed leg 415 anda movable leg 416. One end of the movable leg 416 is inserted into thepin hole 412. The other end of the movable leg 416 is inserted into thefixed leg 415. The movable leg 416 is resiliently tensed toward thedirection of the pin hole 412 by a spring (not shown in the figure)disposed inside the fixed leg 415. Each fixed leg 415 is connected tothe center member 414. Thus, as a whole, the holding leg 411 has a crossshape. Instead of using the spring, the movable leg 416 can betelescopically extended from the fixed leg 415 in accordance with aconventional method for extending the legs of camera tripod.

The stay 420 comprises a base column 425 connected to the-center member414 and an extensible column 426 telescopically inserted into the basecolumn 425. As the extensible column 426 moves forwardly and backwardlyin the base column 422, the stay 420 is extended and contracted. A lowerend of the extensible column 426 presses against a floor surface 407 ofthe cockpit, thereby supporting the center member 414.

The supporting tube 421 is movably attached to the base column 425 ofthe stay 420 provided at the center member 414 of the holding leg 411.One end of the side member 422 which is laterally extended from theaxial center thereof is connected to the supporting tube 421. The otherend of the side member 422 is secured to the base member 404 of themanipulator 401. Since the side member 422 is extended from the axialcenter of the supporting tube 421, the manipulator 401 can be raised onthe aircraft without interference with the holding leg 411.

FIG. 22 is a perspective view showing a condition of the working unit403 of the manipulator 401 which cleans a windshield 431 disposed infront of the cockpit 408. In this figure, the manipulator 401 is avertical multi-joint type manipulator. This manipulator 401 has abending axis B1 of the first arm 401a, a bending axis B2 of the secondarm B2, and a rotating axis R of the rotating shaft 401c. In total, themanipulator 401 has three degrees of freedom.

FIG. 23 shows an interior of the cockpit 408. The manipulator 401 isconnected to a controller 432 which comprises a driving power and acontrol computer. A cleaning work is performed automatically undercontrol of a program or manually by using a joystick 433.

The operation of this embodiment of the above described constructionwill be described.

First, the manipulator 401 is positioned on the floor surface 407. Afterthe extensible column 426 is removed from the base member 425, thesupporting tube 421 is attached to and at a proper position of the basecolumn 425 of the stay 420. Thereafter, the extensible column 426 isinserted into the base column 425.

Then, as described above, along with the holding jig 406, themanipulator 401 temporarily held by the holding jig 406 is raised on thefloor surface 407 disposed below the hatch opening portion 410.Thereafter, the holding jig 406 is secured to the hatch opening portion410.

To insert the holding leg 411 into the pin holes 412 of the hatchopening portion 410, the movable leg 416 is contracted to the inside ofthe fixed leg 415 so that the end of the movable leg 416 can be insertedinto the pin hole 412. Thereafter, the contracted movable leg 416 isreleased. Thus, the movable leg 416 is resiliently tensed by the springin the fixed leg 412. Thereby the movable leg 416 is inserted into thepin hole 412, and the holding leg 411 is secured to the hatch openingportion 410. During this operation, the base member 404 of themanipulator 401 is moved to the lowermost position of the stay 420.Moreover, the manipulator 401 is placed on the floor surface 407.In-this case, the holding jig 406 can be easily secured to the hatchopening portion 410 without a negative affect of the weight of themanipulator 401.

Thereafter, the extensible column 426 is downwardly extended so that theend thereof presses against the floor surface 407 of the cockpit 408. Inthis condition, with a clamping member (not shown in the figure), theextensible column 426 is laterally secured to the base column 425.

Then, the first arm 401a and the second arm 401b are folded up so thatthey are disposed in parallel with the rotating shaft 401c. Next, themanipulator 401 is taken out from the aircraft through the hatch openingportion 410, care being taken so that the manipulator 401 does notcollide with the leg 413 or the like. In this case, the manipulator 401can be manually raised. Alternatively, the manipulator 401 can be raisedby a manual hoist or an electric hoist.

Next, the supporting tube 421 is telescopically moved against the stay420. The supporting tube 421 is attached to a proper position where aparticular work can be performed by the manipulator 401.

In this condition, after cables of the manipulator 401 are connected tothe controller 432, the particular work is performed by the manipulator401.

According to this embodiment, since the holding jig 406 of themanipulator 401 of the working apparatus for aircraft is secured to thehatch opening portion 410, the base member 404 of the manipulator 401can be stably held without the necessity of a large and heavy holdingbase.

In addition, since the base member 404 of the manipulator 401 issecurely held in the vicinity of the hatch opening portion 410, theworking fulcrum of the manipulator 401 is present in the vicinity of thehatch opening portion 410. Thus, in comparison with the comparativeexample where a manipulator 501 is held through a stay 503 by theholding base 104 disposed on the floor surface 407 as shown in FIG. 30,according to the present invention (FIG. 21), the distance between theposition of the holding jig 406 which holds the manipulator 401 and theposition of the working unit 403 can be significantly shortened. Thus,according to the present invention, the holding jig 406 has a resistanceto the moment of the manipulator 401. In addition, while the manipulator401 is operated, it is not easily susceptible to vibration. Therefore,the manipulator 401 can be accurately and stably operated.

Moreover, since the holding leg 411 of the holding jig 406 is secured byusing the pin holes 412 for securing the lift-up door of the hatch 409,the manipulator 401 can be easily held on the aircraft without providingnew holes.

Further, since the stay 420 has the extensible column 426 and the lowerend of thereof presses against the floor surface 407 of the cockpit 408so as to support the center member 414, even if the manipulator 401 isheavy, it can be satisfactorily supported by the stay 420. In this case,the load applied to the pin holes 412 can be reduced.

Furthermore, since the manipulator 401 can be moved vertically andguided by the stay 420 while the manipulator 401 is secured to thesupporting tube 421, the manipulator 401 can be easily raised to as highas the height of a person. In addition, even if the manipulator 401 isexposed to a strong wind while it is raised, the manipulator 401 isguided by the stay 420. Thus, the stay 420 prevents the manipulator 401from turning down and being damaged.

When the holding leg 411 and so forth are made of pipe members, theholding jig 406 can be satisfactorily lightened.

2.2 Second Embodiment

Next, with reference to FIG. 24, a second embodiment of the workingapparatus in accordance with the second aspect of the present inventionwill be described.

Parts shown in FIG. 24 which are the same as those of the firstembodiment shown in FIG. 21 are designated by the same referencenumerals, and description thereof will be omitted.

The construction of the second embodiment is nearly the same as that ofthe first embodiment except that the construction of the stay 420differs. In FIG. 24, the stay 420 is short. The supporting tube 421which is not attached to the stay 420 and the base member 404 of themanipulator 401 secured to the supporting tube 421 through the sidemember 422 are designated by dot lines.

In the second embodiment, after the base member 404 of the manipulator401 is secured to the side member 422 of the supporting tube 421, it isattached to the stay 420.

According to this embodiment, since the stay 420 is short, the space ofthe cockpit 408 can be effectively used in the same condition as theworking apparatus is not set.

In addition, since the stay 420 is short, the working apparatus can beeasily set and transported.

Moreover, according to this embodiment, since it is not necessary toextend the stay 420 which presses against the floor surface, themanipulator 401 can be easily raised. Thus, when no large load isapplied to the pin holes 412, that is, the manipulator 401 is verylight, this embodiment is further preferable. In this case, when theholding jig 406 and the manipulator 401 are integrated, the manipulator401 can be secured to the hatch opening portion 410 with one operation.Thus, the working apparatus can be easily set.

2.3 Third Embodiment

With reference to FIG. 25, a third embodiment of the working apparatusin accordance with the second aspect of the present invention will nowbe described.

As shown in FIG. 25, the holding jig 406 in accordance with thisembodiment comprises the holding leg 411 having a plurality (four) legs413 attached to the pin holes 412 for securing the lift-up door of thehatch 409; and a holding ring 441, disposed at the center of the holdingleg 411, for holding the base member 404 of the manipulator 401.

The holding ring 441 comprises an outer ring 441a and an inner ring441b, each of which has a cylindrical shape. The inner ring 441b isinserted into the outer ring 441a. Each of the outer ring 441a and theinner ring 441b has four holes 442a and four holes 442b into which thelegs 413 are inserted. The base member 404 of the manipulator 401 isinserted into an opening portion 443 of the inner ring 441b and heldthereby.

Then, an operation of this embodiment in the above mentionedconstruction will be described.

First, the outer ring 441a of the holding ring 441 is secured to thehatch opening portion 410. In other words, the four legs 413 areinserted into the pin holes 412 and the holes 442a of the outer ring441a. Thereafter, the outer ring 441a is secured at the center of thehatch opening portion 410. Next, the inner ring 441b is attached to thebase member 404 of the manipulator 401. Then, the manipulator 401 israised as shown by the arrow mark of FIG. 25 so that the arms 401a and401b of the manipulator 401 pass through the outer ring 441a.Thereafter, the manipulator 401 is raised to a position where the innerring 441b can be inserted into the outer ring 441a. Then, themanipulator 401 is slightly raised by a strong force. At this time, theinner end of each leg 413 which passes through the hole 442a of theouter ring 441a has a spherical shape. After the leg 413 is brought intocontact with the outer wall of the inner ring 441b, the leg 413 isshrunk and then inserted into the hole 442b of the inner ring 441b bythe force of a member (not shown in the figure) provided inside the leg413. Thus, the manipulator 401 can be held by the holding jig 406.

According to this embodiment, the arms 401a and 401b of the manipulator401 are inserted into the outer ring 441a and then set. Thus, even ifthe manipulator 401 is inclined in the middle of the setting operationthereof, since the manipulator 401 is supported by the outer ring 441a,the manipulator 401 can be prevented from turning down and beingdamaged.

2.4 Fourth Embodiment

With reference to FIG. 26, a fourth embodiment of the working apparatusin accordance with the second aspect of the present invention will bedescribed.

In FIG. 26, the holding jig 406 comprises a holding main body 451 forholding the manipulator 401; and a pressing member 452, disposed on aside of the holding main body 451, for moving toward a periphery 410a ofthe hatch opening portion 410.

In contrast to the above described embodiments, the holding jig 406 issecured to the hatch opening portion 410 by the pressing member 452rather than the pin holes. In other words, the holding main body 451comprises a plate member 453 having a square shape and an auxiliarymember 454 disposed in a hole 453a formed at the center of the platemember 453. The base member 404 of the manipulator 401 is secured by theauxiliary member 452. One end of a screw 455 is inserted into a sideportion of the plate member 453.

The pressing member 452 has an angular column shape and is provided ontwo orthogonal sides of the holding main body 451. The other end of thescrew 455 secured to the plate member 453 is secured to a side portionof the pressing member 452. By turning the screw 455, the side surfaceof the pressing member 452 can be moved toward the periphery 410a of theopening portion 410. By pressing the pressing member 452 to theperiphery 410a of the hatch opening portion 410, the holding jig 406 canbe secured to the hatch opening portion 410 by frictional force madebetween the pressing member 452 and the periphery 410a.

According to this embodiment, since the holding jig 406 is secured tothe hatch opening portion 410 by the pressing member 452 for pressingthe periphery 410a of the hatch opening portion 410, the contacting areabetween the pressing member 452 of the holding jig 406 and the periphery410a of the hatch opening portion 410 can be increased. Thus, themanipulator 401 can be held firmly by the hatch holding portion 410without locally applying excessive force to the airframe.

In addition to the pressing member 452 in the angular column shape, itis possible to use a pressing member 456 having a channel shapedcross-section as shown in FIG. 27. This pressing member 456 has a grooveportion 456 with a width nearly the same as the thickness of theperiphery 410a of the hatch opening portion 410. The groove portion 456aof the pressing member 456 is attached to the periphery 410a of thehatch opening portion 410. When the channel shaped pressing member 456is used, the holding jig 406 can be more firmly secured to the hatchopening portion 410 by the groove portion 456a of the pressing member456 than is possible by the frictional force of the pressing member 452having the angular column shape.

Moreover, in this embodiment, it is possible to secure a side portion ofthe plate member 453 to the pin hole 412 shown in FIG. 21 by a legmember (not shown in the figure) so as to commonly use the pin hole 412.In this case, the holding jig 406 can be more firmly secured to thehatch opening portion 410 than done by only the pressing member 452.

2.5 Fifth Embodiment

With reference to FIG. 28, a fifth embodiment of the working apparatusin accordance with the second aspect of the present invention will bedescribed.

In FIG. 28, the holding jig 406 comprises a frame member 461 having anopening 464; a holding member 462, extended outwardly from the framemember 461, for holding the manipulator 401; and the pressing member452, disposed at the periphery 461a, for moving toward the periphery410a of the hatch opening portion 410.

In other words, one end of a connecting member 463 is secured outsidethe frame member 461. The other end of the connecting member 463 issecured to the holding member 462. The base member 404 of themanipulator 401 is secured to an opening 465 formed at the center of theholding portion 462 and held thereby. The pressing member 452 has thesame function as that of the fourth embodiment shown in FIG. 26.

According to the fifth embodiment, since the frame member 461 has theopening 464, the worker can lean out of the cockpit through the opening464. In addition, if the manipulator 401 malfunctions, the worker canenter and exit through the opening 464. Thus, the worker can easilyrepair and adjust the manipulator 401.

2.6 Sixth Embodiment

Next, with reference to FIG. 29, a sixth embodiment of the workingapparatus in accordance with the second aspect of the present inventionwill be described.

In FIG. 29, the holding jig 406 comprises a holding main body 471 forholding the manipulator 401 and two L-shaped members 472 secured to theholding main body 471. The L-shaped member 472 comprises a side portion472a secured to the holding main body 471; and a bottom portion 472bforming along with the holding member 471 a space 473 into which theperiphery 410a of the hatch opening portion 410 is inserted. Inaddition, a screw 474 for tightening the periphery 410a is secured tothe bottom portion 472b of the L-shaped member 472.

The base member 404 of the manipulator 401 is inserted into an opening475 formed at the center of the holding main body 471 through theauxiliary member 454 and held thereby. By inserting a resilient membersuch as rubber into the space 473 made between the holding main body 471and the periphery 410a and clamping the resilient member with the screw474, it is possible to prevent the working apparatus from damaging theairframe of the aircraft.

In this embodiment, since the holding main body 471 holds themanipulator 401 at an outer position of the hatch opening portion 410,the hatch opening portion 410 can be widely opened. Thus, the worker canenter the cockpit from the hatch opening portion 410 when necessary.

Section 3 working apparatus from which a manipulator can be detached

3.1 First Embodiment

A first embodiment of a working apparatus from which a manipulator canbe detached in accordance with a third aspect of the present inventionwill be described with reference to the accompanying drawings. FIGS. 31and 32 show a working apparatus 601 which performs the work of cleaninga windshield 803 of an aircraft. As shown in FIGS. 31 and 32, theworking apparatus 601 mainly includes a manipulator 610 and a workingunit 651 (which will be described later in detail). The manipulator 610comprises a base 602 secured to an airframe part 800 of the aircraft, ashoulder joint 603 rotatably connected to the base 602, and a first arm604 whose one end is secured to the shoulder joint 603. The manipulator610 further comprises an elbow joint 605 rotatably connected to theother end of the first arm 604, a second arm 606 whose one end issecured to the elbow joint 605, and a wrist joint 607 rotatably securedto the other end of the second arm 606. The other end of the wrist joint607 is secured to the working unit 651.

In the airframe 800, there is provided a control device 608 whichsupplies signals or electricity to the working apparatus 601 for drivingand controlling the working apparatus as shown in FIG. 33. The controldevice 608 is connected to the working apparatus 601 through adetachable cable 609.

In this embodiment, the base 602 is set up in the vicinity of a hatch802 provided on the ceiling of the cockpit 801 of the airframe 800. Thecable 609 connects the control device 608 with the working apparatus 601disposed outside the airframe 800 through the hatch 802.

FIG. 34 shows the organization of the working apparatus 601 and theperipheral equipment thereof. The control device 608 comprises a controlunit 611 for driving and controlling the joints 603, 605, 607 and theworking unit 651, a computing unit 612 for computing control signals andan operating unit 613 for outputting operating signals for operating themanipulator 610.

The computing unit 612 comprises, for example, a personal computerhaving a keyboard by which an operator (worker) can input controlsignals. The operating unit 613 comprises, for example, a joystick leverwhich is operated to drive the manipulator 610, thereby positioning theworking unit 651 at a particular position. The control unit 611 isconnected to the computing unit 612 and the operating unit 613 throughdetachable cables 614 and 615, respectively.

FIGS. 35 to 37 are a front view, a side view, and a plan viewrespectively, showing the working apparatus 601. FIGS. 36 and 37 showthe working apparatus 601 in which the elbow joint 605 is held at aright angle.

The working apparatus 601 is fixedly secured to a base plate 617disposed on a floor 616. Ball casters 618 with stoppers are provided atlower four corners of the base plate 617, whereby the base plate 617 isfreely moved by the ball casters 618 and fixed at any position by thestoppers thereof. As a result, the working apparatus 601 can be easilymoved by the ball casters 618. The base 602 of the working apparatus 601is detachably connected to the base plate 617.

The shoulder joint 603 is provided with a first joint 619 and a secondjoint 620. The first joint 619 is rotatable in the direction of thearrow a as shown in FIG. 37, and the second joint 620 is rotatable inthe direction of the arrow b as shown in FIG. 36.

A coupling device 621 is provided at a lower portion of the shoulderjoint 603. The coupling device 621 comprises a first member 621a securedto the base 602 and a second member 621b secured to the lower portion ofthe first joint 619 as shown in FIG. 44. The first member 621a has acylindrical portion 622 with a small diameter which is inserted into ahollow cylindrical portion 623 formed in the second member 621b, wherebythe shoulder joint 603 is connected to the base 602.

The cylindrical portion 622 has threads 624b, formed thereon, the secondmember 621b has through holes 625 as shown in FIG. 44. The first member621a and the second member 621b are coupled, and then bolts 624a areinserted into the through holes 625 of the second member 621b and areengaged with the threads 624b of the first member 621a, thereby securingthe second member 621b to the first member 621a. Thus, the shoulderjoint 603 is secured to the base 602.

The first joint 619 and the second joint 620 of the shoulder joint 603have a driving mechanism therein for rotating the first arm 604. A cable626 for transmitting signals to the driving mechanism has a receptacle626a at an end portion thereof. The receptacle 626a is connected to aplug 609a provided at an end of the cable 609 which extends from thecontrol unit 611.

For removing the shoulder joint 603 by uncoupling the first member 621aand the second member 621b, the receptacle 626a and the plug 609a can bedisconnected. In other words, the cable 626 and the cable 609 areconnected through the receptacle 626a and the plug 609a, and the firstarm 604 can be easily detached from the base 602 when detaching thesecond member 621b from the first member 621a.

A coupling device 627 having the same construction as that of thecoupling device 621 is provided between the shoulder joint 603 and thefirst arm 604 as shown in FIG. 35. The coupling device 627 comprises afirst member 627a secured to the second joint 620 and a second member627b secured to the first arm 604.

A coupling device 628 having the same construction as that of thecoupling device 621 is provided at the other end of the first arm 604.The coupling device 628 comprises a first member 628a secured to thefirst arm 604 and a second member 628b secured to the elbow joint 605,thereby connecting the first arm 604 and the elbow joint 605.

The second arm 606 is connected to an end of the first arm 604 throughthe elbow joint 605. The elbow joint 605 comprises a third joint 629which is rotatable in the direction of the arrow c as shown in FIG. 36.A coupling device 630 having the same construction as that of thecoupling device 621 is provided on the side of the elbow joint 605 ofthe second arm 606. The coupling device 630 comprises a first member630a secured to the third joint 629 and a second member 630b secured tothe second arm 606, thereby connecting the third joint 629 and thesecond arm 606.

A coupling device 632 having the same construction as that of thecoupling device 621 is provided between the second arm 606 and the wristjoint 607 as shown in FIG. 39. The coupling device 632 comprises a firstmember 632a secured to the second arm 606 and a second member 632bsecured to an end of the wrist joint 607. The wrist joint 607 is securedto the second arm 606 by bolts 650 (FIG. 39).

The wrist joint 607 has a fourth joint 633 and a fifth joint 634. Thefourth joint 633 enables the wrist joint 607 to rotate about its centralaxis. The fifth joint 634 enables the wrist joint 607 to tilt. The wristjoint 607 and the working unit 651 are connected to each other through acoupling device 636.

The working unit 651 is provided with a connecting arm 652 extended in avertical direction at the center of the working unit 651 as shown inFIGS. 39 and 40. The connecting arm 652 is connected to the wrist joint607 through the coupling device 636. The connecting arm 652 is securedto a gear box 653 on which a motor 654 is provided.

The rotating force of the motor 654 is transmitted to a pair of rotatingbrushes 655a and 655b through gears (not shown in the figure) in thegear box 653. The rotating brushes 655a and 655b perform the work ofcleaning the windshield.

A sensor 656 for sensing force is disposed between the connecting arm652 and the coupling device 636 so that the pressing force of theworking unit 651 against the airframe 800 can be measured. The sensor656 is connected to the control device 608 through a cable (not shown inthe figure).

The first joint 619, the second joint 620, and the third joint 629control the position of the wrist joint 607 of the working apparatus601. The fourth joint 633 and the fifth joint 634 control theorientation of the working unit 651 of the working apparatus 601. FIG.38A shows the configuration of the degrees of freedom of the workingapparatus 601 with a plurality of joints.

A method of connecting the cables will now be described with referenceto FIG. 35.

The cable 609 taken out from the control unit 611 is connected to cables638, 639, and 640 through a connector 637. The cable 638 transmitsdriving signals of the first joint 619. The cable 639 transmits drivingsignals of the second joint 620. The cable 640 is connected to a cable642 through a connector 641. The cable 642 is disposed inside the firstarm 604, a part 642a of the cable 642 being secured to the inside of thefirst arm 604, a part 642b of the cable 642 being taken out from theinside of the first arm 604 near the coupling device 628. The cable 642is connected to a cable 644 through a connector 643. A cable 644atransmits driving signals of the third joint 629. Further, the cable 644is connected to a cable 646 through a connector 645. The cable 648 isrouted inside the second arm 606. The cable 646 is taken out from thesecond arm 606 near the coupling device 632. The cable 646 is connectedto cables 648 and 649 through a connector 647. The cable 648 transmitsdriving signals of the fourth joint 633. The cable 649 transmits drivingsignals of the fifth joint 634.

Next, the process of cleaning the windshield 803 performed by theworking apparatus 601 of the above described construction will bedescribed.

The working apparatus 601 is disassembled into a plurality of units ofjoints and arms. The working unit 651 and the control device 608 arealso separated from the manipulator 610. Thereafter, the disassembledunits and devices are transported into the cockpit 801 of the airframe800. Since the manipulator 610 has been disassembled into the smallunits, they can be easily carried through the entrance of the cockpit801.

Then, a guide rail (not shown) is lowered to the floor of the cockpit801 from the hatch 802 provided in the ceiling of the cockpit 801. Next,the base 602 for securing the working apparatus 601 is assembled at thelowermost portion of the guide rail. Thereafter, the manipulator 610 issuccessively assembled on the base 602.

This assembling work is carried out by attaching the shoulder joint 603onto the base 602 and then connecting the shoulder joint 603 and thefirst arm 604 with the coupling device 621. The first arm 604, the elbowjoint 605, and the second arm 606 are connected to each other with thecoupling devices 28 and 30 in the same manner.

Thereafter, the connecting arm 652 is connected to the second arm 606through the wrist joint 607 and the sensor 656. Then, the other end ofthe connecting arm 652 is connected to the working unit 651. Cables areconnected to each joint, each arm, and the control device 608.

The working apparatus 601 assembled in the above manner has a smallshape where each joint is folded up.

The working apparatus 601 together with the base 602 is taken out fromthe airframe through the hatch 802 using the guide rail. The workingapparatus 601 is secured to the airframe surface adjacent to the hatch802 by the use of an edge of the hatch 802.

The worker controls the positions of the rotating brushes 655a and 655bdisposed to the end of the working apparatus 601 by operating theoperating unit 613 to drive the manipulator 610 while observing themovement of the working apparatus 601 by a position detector (not shownin the figure).

Thus, the working unit 651 is moved towards the windshield 803 while therotating brushes 655a and 655b are not in contact with the airframe 800,but hang down.

After the working unit 651 is positioned at a specific position over thewindshield 803, the rotating brushes 655a are 655b are released from thehanging state to enable the rotating brushes 655a and 655b to contactthe windshield 803.

At this time, if pressing force were excessively applied to the airframe800 by the rotating brushes 655a and 655b, the surface of the airframe800 would be damaged. Therefore, the pressing force of the rotatingbrushes 655a and 655b is controlled by a signal from the sensor 656.

The pressing force is controlled by the computing unit 612 whichcomputes transformation of the coordinate system with respect to signalsrepresenting the pressing force and instruction signal for joints onreal-time basis. The pressing force of the rotating brushes 655a and655b against the windshield 803 is always kept in an optimum conditionby supplying joint driving signals to each joint of the manipulator 610from the control unit 611.

When the shape of the surface from the hatch 802 to the windshield 203is known in advance, it is preferable to program the shape in thecontrol unit 611 in advance. In such a way, the working unit 651 isautomatically positioned at a predetermined position on the windshield803.

Thereafter, the rotating brushes 655a and 655b are rotated while theposition and the orientation of the working unit 651, and the pressingdirection and force of the rotating brushes 655a and 655b arecontrolled, thereby removing foreign matter from the windshield 803.

According to the working apparatus 601 of this embodiment, since eachjoint and each arm of the manipulator 610 are detachable, they can beeasily carried into the inside of the aircraft. Thereafter, the workingapparatus is assembled again inside the aircraft. Then, the base isdisposed in the vicinity of the hatch. Thus, the work of cleaning thewindshield can be easily performed.

3.2 Second Embodiment (first modification of working unit)

Next, a first modification of the working unit of the working apparatusin accordance with the third aspect of the present invention will bedescribed with reference to FIG. 41. Parts shown in FIG. 41 which arethe same as those of the first embodiment shown in FIGS. 39 and 40 aredesignated by the same reference numerals and description thereof willbe omitted.

FIG. 41 is a perspective view showing a working unit 661. The workingunit 661 is provided with four wheels 662 as a moving mechanism so thatrotating brushes 655a and 655b do not contact the airframe. Thisstructure of the working unit 661 is different from that of the workingunit 651 shown in FIGS. 39 and 40.

The two wheels 662 are provided on each side of the working unit 661.That is, the working unit 661 is provided with supporting members 663aand 663b, each of which rotatably supports the two wheels 662 at its twoends. The supporting members 663a and 663b, and cranks 664a and 664bjointly constitute a pair of crank mechanisms 665a and 665b. The crankmechanisms 665a and 665b are driven by a motor 666 secured to the gearbox 653, thereby vertically moving the wheels 662 against the gear box653.

When the working apparatus 601 having the working unit 661 cleans thewindshield 803, the process of carrying the working apparatus 601 intothe cockpit 801 and assembling the working apparatus 601 is performed inthe same manner as the first embodiment shown in FIGS. 39 and 40.

However, in the second embodiment, the wheels 662 are used when theworking unit 661 moves as opposed to the first embodiment.

In other words, the worker drives the motor 666 to operate the crankmechanisms 665a and 665b, whereby the wheels 662 are brought intocontact with the airframe. At this time, the rotating brushes 655a and655b are kept out of contact with the airframe.

Thereafter, the worker controls the positions of the rotating brushes655a and 655b attached to the end of the working apparatus 601 byoperating the operating unit 613 to drive the manipulator 610 whileobserving the movement of the working apparatus 601 by a positiondetector (not shown in the figure). After the working unit 651 ispositioned at a predetermined position over the windshield 803, themotor 666 is driven again to operate the crank mechanisms 665a and 665b,thereby lifting the wheels 662. Then, the rotating brushes 655a and 655bare brought into contact with the windshield 803. The work of cleaningthe windshield 803 is performed in this contact state while rotating therotating brushes 655a and 655b.

After the cleaning work is complete, the working apparatus 601 isaccommodated in the airframe in the reverse order of the aboveprocedure. That is, the wheels 662 are first brought into contact withthe airframe. Simultaneously, the rotating brushes 655a and 655b arebrought out of contact with the airframe. While the working unit 661 ismoved towards the hatch 802 along the airframe surface by the wheels662, the manipulator 610 is folded up gradually. Thereafter, themanipulator 610 is accommodated in the cockpit through the hatch 802.The manipulator 610 is disassembled into each joint and each arm andthen they are carried outside from the cockpit.

According to this embodiment in which the working unit is provided withthe wheels, the working unit can be moved along the airframe having acomplicated curved surface to an objective working surface withoutdamaging the airframe.

Further, in general, when the manipulator can be assembled in any shape,it is difficult to control the manipulator due to its inconstantcharacteristic frequency. However, in this embodiment, since a part ofthe working apparatus contacts the airframe via the wheels, themanipulator can be easily controlled without much interference due tovibration. Thus, an adverse effect on components, such as occurrence ofplay in a mechanical joint portion due to looseness of screws, caused byvibration, can be eliminated, thus prolonging the service life of theoverall working apparatus.

It should be appreciated that the working apparatus can be moved on theairframe surface using a moving mechanism such as ball casters in placeof the wheels 662. Further, if at least the surface of the movingmechanism is made of an elastic member, not only the vibration of theworking apparatus and but also damage to the airframe can be prevented.

3.3 Third Embodiment (second modification of working unit)

FIG. 42 is a perspective view showing a second modification of theworking unit in accordance with the third aspect of the presentinvention.

According to this modification, the working unit 671 is provided with amotor 672 at a central portion thereof. The motor 672 has a rotatingshaft 673 which is formed as a screw and engaged with a nut 674.

On the other hand, four supporting members 675 are provided on theworking unit 671, one end of each supporting member 675 being rotatablysupported by the nut 674. The supporting member 675 has another end bywhich a wheel 662 is rotatably supported.

Each supporting member 675 and a crank 676 jointly constitute a crankmechanism 677.

With the working unit 671 of the above described construction, when themotor 672 is rotated to move the nut 674 upward, the wheel 662 isbrought into contact with the airframe. In contrast, when the motor 672is rotated in the reverse direction to move the nut 674 downward, therotating brushes 655a and 655b are brought into contact with thewindshield 803.

3.4 Fourth Embodiment (third modification of working unit)

Next, a third modification of the working unit in accordance with thethird aspect of the present invention will be described with referenceto FIG. 43.

According to this embodiment, a working unit 681 is provided with foursupporting member 682 rotatably supported thereby. One end of eachsupporting member 682 has a wheel 662 and the other end thereof has anoblong hole 683. The two supporting member 682 are supported by eachother at the position of the oblong holes 683, and a common shaft 684extends through the oblong holes 683. Further, the shaft 684 alsoextends through arms 686 secured to a rotating shaft of a motor 685.When the motor 685 is driven to rotate the arms 686, the shaft 684 ismovable up or down.

In the above mechanism, when the motor 685 is driven to rotate the arms686, the angle of the supporting member 682 against the working unit 681is changed. Thus, as in the modification as the second embodiment, thepositions of the wheels 662 can be vertically moved relative to therotating brushes 655a and 655b.

The working units 651, 661, 671, and 681 shown in FIGS. 39 to 43 areemployed to perform the work of cleaning the windshield of an aircraft.However, it should be appreciated that the working unit can be replacedwith another type of working unit, such as a spray gun, a wiper, or anultrasonic flaw detecting test device, to perform various other modes ofwork. By replacing the working unit, it is possible to perform work foraircraft in accordance with various working conditions without replacingor changing the manipulator 610 and other unit configuration.

3.5 Fifth Embodiment (first modification of coupling device)

Now, a first modification of a coupling device of the working apparatusin accordance with the third aspect of the present invention will bedescribed with reference to FIG. 45.

FIG. 45 is a perspective view showing a coupling device 701. Thecoupling device 701 connects a first member 702 and a second member 703which are opposed. One end of the first member 702 has a flange 702a.One end of the second member 703 has a flange 703a.

The flange 702a of the first member 702 has a pair of projections 704aand 704b at the surface opposed to the second member 703. On the otherhand, the flange 103a has a pair of through holes 705a and 705b at theplace opposed to the first member 702. The through holes 705a and 705bare formed to correspond to and fit the projections 704a and 704b,respectively. The first member 702 and the second member 703 are exactlypositioned relative to each other by fitting the projections 704a and704b into the through holes 705a and 705b, respectively.

In the hollow cylindrical first member 702, a cable 706 is routed. Oneend of the cable 706 is connected to a plug 706a. In the hollowcylindrical second member 703, a cable 707 is routed. One end of thecable 707 is connected to a receptacle 707a. When the projections 704aand 704b are fitted into the through holes 705a and 705b, respectively,the plug 706a and the receptacle 707a are connected to each other.

Further, the flanges 702a and 703a are provided with a plurality ofholes 708 and 709, respectively. Bolts 710a are inserted into the holes708 and 709, and nuts 110b are threadingly engaged with the bolts 710a,thereby fastening the first member 702 and the second member 703.

In this embodiment, since the cables are routed inside the couplingdevice, unnecessary tensile load is not applied to the cables incomparison with the case where the cables are exposed outside.

3.6 Sixth Embodiment (second modification of coupling device)

FIG. 46 shows a second modification of the coupling device of theworking apparatus in accordance with the third aspect of the presentinvention.

The coupling device 711 shown in FIG. 46 comprises a first member 712and a second member 713. One end of the first member 712 has a flange712a. One end of the second member 713 has a flange 713a. A plug 714a isprovided at a part of the flange 712a. A receptacle 715a is provided ata part of the flange 713a. The plug 714a is connected to a cable 714.The receptacle 715a is connected to a cable 715. The cables 714 and 715are taken out from the first member 712 and the second member 713through holes 712b and 713b formed thereon, respectively.

The coupling device 711 has the same effect as that of the modificationdescribed in the fifth embodiment.

3.7 Seventh Embodiment

Next, an embodiment for changing the operation range of the workingapparatus in accordance with the third aspect of the present inventionwill be described with reference to FIG. 47.

FIG. 47 shows an example where the operation range of the workingapparatus is changed by varying the length of an arm constituting themanipulator.

In a manipulator 690-according to this embodiment shown in FIG. 47, theshoulder joint 603 is secured to the base 602 through the couplingdevice 621. A first arm 691 having a shorter length than that of thefirst arm 604 shown in FIGS. 35 to 37 is connected to the shoulder joint603 through the coupling device 627. The elbow joint 605 is attached tothe other end of the first arm 691 through the coupling device 628.Further, a second arm 692 is connected to the elbow joint 605 throughthe coupling device 630. The second arm 692 has a shorter length thanthat of the second arm 606 shown in FIGS. 35 to 37. The wrist joint 607is attached to the other end of the second arm 692 through the couplingdevice 632.

The first arm 691 has a shorter length than that of the first arm 604,but the first arm 691 uses at both ends thereof the same couplingdevices 627 and 628 as those provided at both ends of the first arm 604.

Likewise, the second arm 692 has a shorter length than that of thesecond arm 606, but the second arm 691 uses at both ends thereof thesame coupling devices 630 and 632 as those provided at both ends of thesecond arm 606.

As is apparent from the above description, in order to change theoperation range of the working apparatus 601, some arms constructing theworking apparatus are replaced with other arms having a different lengthand using the same coupling devices at both ends thereof.

In this embodiment, by selecting optimum arms in accordance with adesired service work or the conditions of an aircraft (for example,distance from the opening of the cockpit and the objective workingsurface), the working apparatus 601 can be constructed in conformitywith the desired service work and the conditions of aircraft.

Further, the configuration of the degrees of freedom of the manipulatorcan be changed by changing the coupling direction of the coupling deviceof the manipulator or replacing a particular joint with another jointhaving a different motion (for example, using linear joints instead of arotating joint). Furthermore, the operational range of the workingapparatus can be changed with variation of form or shape of a joint.

For example, FIG. 38B shows a modification of the configuration of thedegrees of freedom of the manipulator 610. In this modification, thefirst arm 604 and the elbow joint 605 of the working apparatus 601 shownin FIG. 38A are rotated by an angle of 90 degrees at the position of thecoupling device 628 and fixed in this state. As a matter of fact, inFIG. 44 the bolt 624a is engaged with a through hole 650 formedperpendicular to the through hole 625.

In the above described embodiments, the working apparatus from which themanipulator can be detached was described. However, it should beappreciated that the construction of a working apparatus from which themanipulator cannot be detached can also be considered.

INDUSTRIAL UTILIZATION

The working apparatus in accordance with the present invention can beused for not only for cleaning windows of aircraft but also for cleaningand painting architectural structures.

We claim:
 1. A working robot, comprising:an articulated manipulator armhaving a number of articulations ranging from two to four; a workingunit having a working portion for surface contacting in a freelyrotatable manner an objective working surface; and a universal couplingfor coupling said manipulator and said working unit, said universalcoupling being freely rotatable about two axes, wherein said universalcoupling has a pair of potentiometers, each detecting an angle ofrotation of said working unit about one of said rotation axes.
 2. Theworking apparatus as set forth in claim 1, wherein said working unit hasforce detecting means for detecting the force with which said workingportion presses against said objective working surface.
 3. The workingapparatus as set forth in claim 1, wherein said manipulator has forcedetecting means for detecting the force with which said working portionpresses against said objective working surface.
 4. The working apparatusas set forth in claim 1, wherein said working apparatus has a pluralityof working portions, of which, adjacent working portions are reverselyrotated.
 5. The working apparatus as set forth in claim 1, furthercomprising a spring, provided between said working unit and saiduniversal coupling, for positioning said working unit.
 6. The workingapparatus as set forth in claim 1, wherein said working unit has acounterweight opposed to said working portion.
 7. The working apparatusas set forth in claim 1, further comprising a connecting jig, disposedbetween said manipulator and said universal coupling, for attaching saiduniversal coupling with a desired orientation.
 8. The working apparatusas set forth in claim 7, wherein said connecting jig is rotatable abouta rotation shaft.
 9. A working robot, comprising:an articulated SCARArobot, which is a selective compliance assembly robot arm, having anumber of articulations ranging from two to four; a working unit havinga working portion for surface contacting in a freely rotatable manner anobjective working surface; a base for holding said SCARA robot; and auniversal coupling for coupling said SCARA robot and said working unit,said universal coupling being freely rotatable about two axes, whereinsaid universal coupling has a pair of potentiometers, each detecting anangle of rotation of said working unit about one of said rotation axes.